#ifndef FollowMarkerActionGroup_H_INCLUDED
#define FollowMarkerActionGroup_H_INCLUDED

#include <Aria.h>
#include "RotateAction.h"
#include "AdvanceAction.h"

class FollowMarkerActionGroup : public ArActionGroup
{

	private:
//		//Azione per evitare gli ostacoli frontali
//		ArActionAvoidFront* frontAvoid;
//		//Azione per evitare che il robot sbatta contro un ostacolo frontale
//		ArActionLimiterForwards* frontLimiter;
//		ArActionAvoidSide* sideAvoid;
		RotateAction* rotate;
		AdvanceAction* advance;


	public:
		FollowMarkerActionGroup(ArRobot* robot,int* dir,int degree,uint16_t* distance,uint16_t distanceSetPoint, uint16_t dMax, int vMax, int vMin);
		~FollowMarkerActionGroup();
		void setDecel(int decel);
		void setRotVel(int rotVel, int* direction);
};

#endif
